CN110960372A - Lifting type robot for transporting bedridden patients - Google Patents

Lifting type robot for transporting bedridden patients Download PDF

Info

Publication number
CN110960372A
CN110960372A CN202010019682.6A CN202010019682A CN110960372A CN 110960372 A CN110960372 A CN 110960372A CN 202010019682 A CN202010019682 A CN 202010019682A CN 110960372 A CN110960372 A CN 110960372A
Authority
CN
China
Prior art keywords
lifting frame
arm
long
plate
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202010019682.6A
Other languages
Chinese (zh)
Other versions
CN110960372B (en
Inventor
张同合
孙传祝
于哲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zibo Kechuang Medical Instrument Co Ltd
Original Assignee
Zibo Kechuang Medical Instrument Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zibo Kechuang Medical Instrument Co Ltd filed Critical Zibo Kechuang Medical Instrument Co Ltd
Priority to CN202010019682.6A priority Critical patent/CN110960372B/en
Priority claimed from CN202010019682.6A external-priority patent/CN110960372B/en
Publication of CN110960372A publication Critical patent/CN110960372A/en
Application granted granted Critical
Publication of CN110960372B publication Critical patent/CN110960372B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1049—Attachment, suspending or supporting means for patients
    • A61G7/1057—Supported platforms, frames or sheets for patient in lying position
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1049—Attachment, suspending or supporting means for patients
    • A61G7/1061—Yokes

Abstract

The invention provides a lifting type robot for transporting bedridden patients, which is characterized in that: the frame is of a frame structure, a cross beam is arranged in the frame structure, and a lifting driving device is arranged on the cross beam; the driving shaft with driving wheel is supported on the lower surface of the frame, the other end of the driving shaft is provided with universal wheel, chain transmission is arranged between the advancing driving device and the driving shaft, the lifting driving device is provided with a gear meshed with the rack arranged on the lifting frame, and the inner side of the lifting frame close to the vertical plate of the frame is provided with a roller; the bearing plate is fixed on straight arms of a y-shaped arm I and a y-shaped arm II, the y-shaped arm II is installed on the lifting frame I, and the y-shaped arm I is hinged to a pin shaft of the lifting frame I through a circular hole; the adjusting driving device is hinged to the y-shaped arm II, one end of the adjusting rod is inserted into a power output hole of the adjusting driving device, and the other end of the adjusting rod is hinged to the y-shaped arm I. The invention can reduce the workload and the working difficulty of nursing staff and is convenient and reliable for carrying patients.

Description

Lifting type robot for transporting bedridden patients
Technical Field
The invention provides a lifting type robot for transporting bedridden patients, belongs to the field of medical instruments and equipment, and is mainly used for transporting the bedridden patients.
Background
With the social development and the increasing proportion of the aged people over 60 years and 65 years, China gradually enters the aging society. With this, the number of patients lying in bed, even for extended periods of time, due to various diseases or other causes, is increasing. Therefore, the nursing work for the bedridden patients is increasingly important, and the number of people who specialize in the nursing work is increasing.
One of the same difficulties encountered by persons engaged in nursing operations, whether in hospitals or homes, is the task of transporting bedridden patients. Particularly, in hospitals, patients need to be frequently examined, and nursing staff are required to move the patients back and forth among sickbeds, stretcher vehicles and examination equipment during each examination, so that the workload and the working difficulty of the nursing staff are increased, and the pain of the patients is increased.
In view of the current situation of the medical equipment industry, a robot for transporting bedridden patients, which can reduce the workload and the working difficulty of nursing staff and can transport patients conveniently and reliably, is urgently needed.
Disclosure of Invention
The invention aims to provide a lifting type robot for transporting bedridden patients, which can replace manual transportation of the bedridden patients, is convenient and reliable and does not cause discomfort to the patients.
The technical scheme is as follows: the device comprises a chassis, a lifting mechanism and a supporting device, wherein the chassis comprises a rack and a traveling device, the rack is of a rectangular front 6-face box-shaped frame structure, and the shortest 4 ridge lines and the longest 4 ridge lines of a rectangular box are parallel to the ground; the long edge of the rectangular box is the longest ridge line, and 1 vertical plate in a vertical state is provided with 3 long grooves perpendicular to the longest ridge line, the middle long groove is positioned on the symmetrical plane of the rectangular box perpendicular to the longest ridge line, and the other 2 long grooves are symmetrically arranged relative to the symmetrical plane of the rectangular box perpendicular to the longest ridge line; 3 guide rails parallel to the elongated grooves are arranged on the inner surface of the vertical plate, 2 guide rails I with L-shaped sections on two sides are symmetrically arranged relative to a symmetrical plane of the rectangular box and perpendicular to the longest ridge line, the distance from a guide rail II with a rectangular section in the middle to the symmetrical plane of the rectangular box and perpendicular to the longest ridge line is a, the guide rail planes of the guide rails I and the guide rail II are both parallel to the vertical plate surface where the guide rail I is located, the distance from the guide rail plane of the vertical plate surface where the guide rail II is not in contact with the guide rail I to the inner surface of the vertical plate is equal to the distance from the guide rail plane of the vertical plate surface where the guide rail I is not in contact with the guide rail I to the inner surface of the vertical plate, and the 2 guide, and the difference between the distance between the 2 long grooves on the two sides and the distance between the 2 guide rails I on the two sides is equal to 2a, and a cross beam parallel to the ground is arranged in the rectangular box. The travelling device comprises a driving shaft, a driving wheel, a universal wheel, a chain transmission, a travelling driving device and a controller, wherein two ends of the driving shaft, the middle of which penetrates through an inner hole of a driven part of the chain transmission, are supported on the lower surface of a bottom plate below a cuboid box of the rack and parallel to the ground, the driving shaft is close to a vertical plate which is at one end of the cuboid box and is in a vertical state, and the short edge of the vertical plate is the shortest ridge line; a rectangular opening is formed in the bottom plate of the rectangular box of the rack corresponding to the chain transmission position on the driving shaft, the driving part of the chain transmission extends into the rectangular box of the rack, and driving wheels are arranged at two ends of the driving shaft; an output shaft of a travel driving device which is arranged on the upper surface of a bottom plate parallel to the ground below a cuboid box of the rack is connected with a driving part of the chain transmission, and the axis of the output shaft of the travel driving device is parallel to the shortest ridge line of the cuboid box; the traveling driving device is connected with a controller arranged on the upper surface of a bottom plate of a cuboid box of the rack through a lead, the control panel is arranged on the upper surface of a top plate above the cuboid box of the rack, the upper surface of the top plate is parallel to the ground, and the control panel is close to one side of a vertical plate of the cuboid box which is not provided with a long groove, and the controller is connected with the control panel through a lead; the bottom plate of the cuboid box of frame is kept away from the shortest crest line of drive shaft department, is close to another 1 shortest crest lines department of cuboid box and is equipped with 2 mounting holes, and the mounting hole axis is perpendicular with the bottom plate of cuboid box, and the line of 2 mounting holes is parallel with the longest crest line of cuboid box, and the revolving axle of 2 universal wheels is inserted in 2 mounting holes of bottom plate respectively by the cuboid box below of frame and the parallel bottom plate lower surface in ground. Elevating system includes crane, gear and lift drive, and the crane includes crane I and crane II, and crane I and crane II all are 4 limit frame construction in rectangle plane. The distance between 2 short frames of the crane I is equal to the distance between 2 long grooves on two sides of a rectangular box of the rack, the 2 long frames of the crane I are positioned on a symmetrical plane vertical to the long frames, 1 connecting plate I extends out towards the length direction of the short frames towards the direction far away from the other 1 long frames, 1 connecting rod extends out towards the same direction vertical to the rectangular plane of the crane I, 2 connecting rods extend out from two ends of the 2 long frames of the crane I towards the same direction of the connecting rods extending out from the middle parts of the 2 long frames, and 2 pin shafts extend out towards the length direction of the short frames towards the direction far away from the other 1 long frames; the distance between 2 pin shafts and the distance between 2 connecting rods at two ends of the same long frame of the lifting frame I are equal to the distance between 2 short frames of the lifting frame I, the surface of the connecting plate I is parallel to the rectangular plane of the lifting frame I, and the surfaces of the 2 connecting plates I are coplanar; 2 long frames of the lifting frame I are respectively provided with 3 idler wheels towards the extending direction of the connecting rod, the axes of the idler wheels are parallel to the rectangular plane of the lifting frame I, the axes of the idler wheels are positioned in the same plane, the 2 idler wheels at two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the lifting frame I, which is vertical to the long frames, the distance between the 2 idler wheels at two ends is equal to the distance between the 2 guide rails I at two sides of the rectangular box of the rack, and the distance from the middle idler wheel to the symmetrical plane of the lifting frame I, which is vertical to the long frames, is a; the distance between 2 short frames of the lifting frame II is equal to the distance between 2 short frames of the lifting frame I, 3 rolling wheels are respectively arranged on 2 long frames of the lifting frame II in the same direction perpendicular to the rectangular plane of the lifting frame II, the axes of the rolling wheels are parallel to the rectangular plane of the lifting frame II, the axes of the rolling wheels are positioned in the same plane, the 2 rolling wheels at two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the lifting frame II perpendicular to the long frame, the distance between the 2 rolling wheels at two ends of the same long frame of the lifting frame II is equal to the distance between the 2 rolling wheels at two ends of the same long frame of the lifting frame I, and the distance from the middle rolling wheel to the symmetrical plane of the lifting frame II perpendicular to the long frame is a; racks are arranged among 2 long frames of the lifting frame II, in the middle of the long frames and on one side of the roller far away from the lifting frame II, the length direction of the racks is parallel to the short frame of the lifting frame II, the tooth form of the racks faces the direction far away from the roller on the lifting frame II, and the surface of each rack is perpendicular to the rectangular plane of the lifting frame II; 6 connecting rods extending out of the long frame of the lifting frame I penetrate through 3 long grooves in the long square box from the outside of the rectangular box of the rack and are inserted into the rectangular box, 2 connecting rods at the middle part and two ends of 2 long frames of the lifting frame I5 respectively penetrate through the same 1 long groove in the middle part and two sides of the rectangular box, and the direction of the roller in the middle part of the 2 long frames of the lifting frame I, which is deviated relative to the symmetrical plane of the lifting frame I and is vertical to the long frames, is the same as the direction of the deviation of the guide rail II relative to the symmetrical plane of the rectangular box and is vertical to the longest ridge line; insert the terminal of 6 connecting rods in the cuboid incasement be equipped with 1 crane II, gyro wheel on the crane II is towards crane I's direction, and the rectangle face of the frame II that falls after the installation is parallel with crane I's rectangle face. And a gear is arranged on an output shaft of a lifting driving device arranged on a cuboid box inner cross beam of the rack, the gear is meshed with a rack arranged on the lifting rack II, and the lifting driving device is connected with a controller arranged on the upper surface of a cuboid box bottom plate of the rack through a wire. The bearing device comprises a y-shaped arm, a bearing plate, an adjusting rod and an adjusting driving device, wherein the y-shaped arm comprises a y-shaped arm I and a y-shaped arm II, the y-shaped arm I and the y-shaped arm II are both composed of a straight arm and an inclined arm, and one end of the inclined arm is fixedly connected to the middle part of the straight arm; a round hole is formed in the end part, far away from the straight arm, of the inclined arm of the y-shaped arm I, a round hole is also formed in the end part, close to the round hole in the end part of the inclined arm, of the straight arm of the y-shaped arm I, the axis of the round hole is located in the plane where the straight arm and the inclined arm are located, the axis of the round hole is perpendicular to the straight arm, and the axis of 2 round holes is coaxial; a connecting plate II is arranged at the end part of the inclined arm of the y-shaped arm II, which is far away from the straight arm, and a connecting plate II is also arranged at the end part of the straight arm of the y-shaped arm II, which is close to the end part of the inclined arm, which is close to the connecting plate II; the plate surface of the rectangular flat plate-shaped bearing plate is fixed at one end, far away from the round hole, of the straight arm of the y-shaped arm I, the plate surface of the bearing plate is perpendicular to the plane where the straight arm and the inclined arm of the y-shaped arm I are located, the center of the plate surface of the other 1 bearing plate is fixed at one end, far away from the round hole, of the straight arm of the y-shaped arm II, and the plate surface of the bearing plate is perpendicular to the plane where the straight arm and the inclined arm of the y-shaped arm II are located; the Y-shaped arm II fixed with the bearing plate is installed on the lifting frame I, the plate surfaces of 2 connecting plates II of the Y-shaped arm II are attached to the plate surfaces of the 2 connecting plates I, the 2Y-shaped arms I fixed with the bearing plate are respectively hinged to 2 pin shafts which are positioned on the same 1 axis at the two ends of the lifting frame I through round holes which are formed in the end parts, far away from the straight arm, of the inclined arms and close to the end parts, of the inclined arms, and the straight arm parts of the Y-shaped arms I and the Y-shaped arms II are upward; 2 adjust drive arrangement and articulate the straight arm part middle part both sides at y shape arm II, and the one end of 2 regulation poles is inserted respectively and is adjusted in drive arrangement's the power take off, and the other end of 2 regulation poles articulates one side that is close to y shape arm II in the straight arm part middle part of 2 y shape arms I respectively, and 2 adjust drive arrangement and pass through the wire and be connected with the controller of installing at the cuboid bottom of the case board upper surface of frame.
On the basis of the prior art, the rack is in a rectangular right 6-face box-shaped frame structure, and the shortest 4 ridge lines and the longest 4 ridge lines of the rectangular box are parallel to the ground; the long edge of the cuboid box is the longest ridge line, and 1 vertical plate in a vertical state is provided with 3 long grooves perpendicular to the longest ridge line, the middle long groove is positioned on a symmetrical plane of the cuboid box perpendicular to the longest ridge line, and the other 2 long grooves are symmetrically arranged relative to the symmetrical plane of the cuboid box perpendicular to the longest ridge line. 3 guide rails parallel to the long grooves are arranged on the inner surface of the vertical plate, the sections of the 2 guide rails I on the two sides are in an L shape, the guide rails I are symmetrically arranged relative to a symmetrical plane of the rectangular box perpendicular to the longest ridge line, the section of the guide rail II in the middle is in a rectangular shape, and the distance from the guide rail II to the symmetrical plane of the rectangular box perpendicular to the longest ridge line is a; the guide rail planes of the guide rail I and the guide rail II are both parallel to the surface of the vertical plate where the guide rail I is located, and the distance between the guide rail plane of the vertical plate where the guide rail II is not in contact with the guide rail I and the inner surface of the vertical plate is equal to the distance between the guide rail plane of the vertical plate where the guide rail I is not in contact with the guide rail I and the inner surface of the vertical plate; 2 guide rail I of both sides are located between 2 long grooves of both sides, and the distance between 2 long grooves of both sides and the difference of the distance between 2 guide rail I of both sides equals 2a, is equipped with the crossbeam parallel with ground in the cuboid case. The middle part of a driving shaft of the travelling device penetrates through an inner hole of a driven part of the chain transmission, two ends of the driving shaft are supported on the lower surface of a bottom plate below a cuboid box of the rack and parallel to the ground, the driving shaft is close to a vertical plate which is at one end of the cuboid box and is in a vertical state, and the short edge of the vertical plate is the shortest ridge line, and the axis of the driving shaft is parallel to the shortest ridge line of the cuboid box; a rectangular opening is formed in the bottom plate of the rectangular box of the rack corresponding to the chain transmission position on the driving shaft, the driving part of the chain transmission extends into the rectangular box of the rack, and driving wheels are arranged at two ends of the driving shaft; an output shaft of a travel driving device which is arranged on the upper surface of a bottom plate parallel to the ground below a cuboid box of the rack is connected with a driving part of the chain transmission, and the axis of the output shaft of the travel driving device is parallel to the shortest ridge line of the cuboid box; the controller is installed on the upper surface of a bottom plate of a cuboid box of the rack, the advancing driving device is connected with the controller through a wire, the control panel is installed on the upper surface of a top plate above the cuboid box of the rack, the top plate is parallel to the ground, the control panel is close to one side of a vertical plate of the cuboid box, the vertical plate is not provided with an elongated slot, and the controller is connected with the control panel through a wire. The bottom plate of the cuboid box of frame is kept away from the shortest crest line of drive shaft department, is close to another 1 shortest crest lines department of cuboid box and is equipped with 2 mounting holes, and the mounting hole axis is perpendicular with the bottom plate of cuboid box, and the line of 2 mounting holes is parallel with the longest crest line of cuboid box, and the revolving axle of 2 universal wheels is inserted in 2 mounting holes of bottom plate respectively by the cuboid box below of frame and the parallel bottom plate lower surface in ground. The lifting frame I and the lifting frame II of the lifting mechanism are both of rectangular plane 4-edge frame structures, the distance between 2 short frames of the lifting frame I is equal to the distance between 2 long grooves on two sides of a rectangular box of the rack, 2 long frames of the lifting frame I are positioned on a symmetrical plane vertical to the long frames, 1 connecting plate I extends out towards the length direction of the short frames towards the direction far away from the other 1 long frame, 1 connecting rod extends out towards the same direction vertical to the rectangular plane of the lifting frame I, 2 connecting rods extend out towards the same direction of the connecting rods extending out towards the middle part of the 2 long frames at two ends of the 2 long frames of the lifting frame I, and 2 pin shafts extend out towards the length direction of the short frames towards the direction far away from the other 1 long frame; the distance between 2 pin shafts at two ends of the same long frame of the lifting frame I is equal to the distance between 2 short frames of the lifting frame I, the distance between 2 connecting rods at two ends of the same long frame is also equal to the distance between 2 short frames of the lifting frame I, the surface of the connecting plate I is parallel to the rectangular plane of the lifting frame I, and the surfaces of the 2 connecting plates I are coplanar; 2 long frames of the lifting frame I are respectively provided with 3 idler wheels towards the extending direction of the connecting rod, the axes of the idler wheels are parallel to the rectangular plane of the lifting frame I, the axes of the idler wheels are positioned in the same plane, the 2 idler wheels at two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the lifting frame I, which is vertical to the long frames, the distance between the 2 idler wheels at two ends is equal to the distance between the 2 guide rails I at two sides of the rectangular box of the rack, and the distance from the middle idler wheel to the symmetrical plane of the lifting frame I, which is vertical to the long frames, is a; the distance between 2 short frames of the lifting frame II is equal to the distance between 2 short frames of the lifting frame I, 3 rolling wheels are respectively arranged on 2 long frames of the lifting frame II in the same direction perpendicular to the rectangular plane of the lifting frame II, the axes of the rolling wheels are parallel to the rectangular plane of the lifting frame II, the axes of the rolling wheels are positioned in the same plane, the 2 rolling wheels at two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the lifting frame II perpendicular to the long frame, the distance between the 2 rolling wheels at two ends of the same long frame of the lifting frame II is equal to the distance between the 2 rolling wheels at two ends of the same long frame of the lifting frame I, and the distance from the middle rolling wheel to the symmetrical plane of the lifting frame II perpendicular to the long frame is a; racks are arranged among 2 long frames of the lifting frame II, in the middle of the long frames and on one side of the roller far away from the lifting frame II, the length direction of the racks is parallel to the short frame of the lifting frame II, the tooth form of the racks faces the direction far away from the roller on the lifting frame II, and the surface of each rack is perpendicular to the rectangular plane of the lifting frame II; 6 connecting rods extending out of the long frame of the crane I penetrate through 3 long grooves in the long square box from the outside of the rectangular box of the rack and are inserted into the rectangular box, 2 connecting rods in the middle of 2 long frames of the crane I penetrate through the same 1 long groove in the middle of the rectangular box, 2 connecting rods at two ends of 2 long frames of the crane I penetrate through the same 1 long groove in two sides of the rectangular box respectively, and the direction of the deviation of the idler wheels in the middle of the 2 long frames of the crane I relative to the symmetrical plane of the crane I and perpendicular to the long frames is the same as the direction of the deviation of the guide rail II 4 relative to the symmetrical plane of the rectangular box and perpendicular to the longest ridge line; insert the terminal of 6 connecting rods in the cuboid incasement be equipped with 1 crane II, gyro wheel on the crane II is towards crane I's direction, and the rectangle face of the frame II that falls after the installation is parallel with crane I's rectangle face. And a gear is arranged on an output shaft of a lifting driving device arranged on a cuboid box inner cross beam of the rack, the gear is meshed with a rack arranged on the lifting rack II, and the lifting driving device is connected with a controller arranged on the upper surface of a cuboid box bottom plate of the rack through a wire. The Y-shaped arm I and the Y-shaped arm II of the bearing device are both composed of a straight arm and an inclined arm, and one end of the inclined arm is fixedly connected to the middle part of the straight arm; a round hole is formed in the end part, far away from the straight arm, of the inclined arm of the y-shaped arm I, a round hole is also formed in the end part, close to the round hole in the end part of the inclined arm, of the straight arm of the y-shaped arm I, the axes of the 2 round holes are located in the planes where the straight arm and the inclined arm are located, the axes of the round holes are perpendicular to the straight arm, and the axes of the 2 round holes are coaxial; a connecting plate II is arranged at the end part of the inclined arm of the y-shaped arm II, which is far away from the straight arm, and a connecting plate II is also arranged at the end part of the straight arm of the y-shaped arm II, which is close to the end part of the inclined arm connecting plate II, and the surfaces of 2 connecting plates II are vertical to the straight arm and are coplanar with the surfaces of 2 connecting plates II; the plate surface of the rectangular flat plate-shaped bearing plate is fixed at one end, far away from the round hole, of the straight arm of the y-shaped arm I, the plate surface of the bearing plate is perpendicular to the plane where the straight arm and the inclined arm of the y-shaped arm I are located, the center of the plate surface of the other 1 bearing plate is fixed at one end, far away from the round hole, of the straight arm of the y-shaped arm II, and the plate surface of the bearing plate is perpendicular to the plane where the straight arm and the inclined arm of the y-shaped arm II are located; the Y-shaped arm II fixed with the bearing plate is installed on the lifting frame I, the plate surfaces of 2 connecting plates II of the Y-shaped arm II are attached to the plate surfaces of the 2 connecting plates I, the 2Y-shaped arms I fixed with the bearing plate are respectively hinged to 2 pin shafts which are positioned on the same 1 axis at the two ends of the lifting frame I through round holes which are formed in the end parts, far away from the straight arm, of the inclined arms and close to the end parts, of the inclined arms, and the straight arm parts of the Y-shaped arms I and the Y-shaped arms II are upward; 2 adjust drive arrangement and articulate the straight arm part middle part both sides at y shape arm II, and the one end of 2 regulation poles is inserted respectively and is adjusted in drive arrangement's the power take off, and the other end of 2 regulation poles articulates one side that is close to y shape arm II in the straight arm part middle part of 2 y shape arms I respectively, and 2 adjust drive arrangement and pass through the wire and be connected with the controller of installing at the cuboid bottom of the case board upper surface of frame.
The working principle is as follows: firstly, adjusting the distance between 2Y-shaped arms I by adjusting a driving device and an adjusting rod according to the height of a patient to ensure that the total length of 3 bearing plates is suitable for the height of the patient; secondly, the robot runs to the bedside of the patient, and the patient turns over towards the direction far away from the robot; the lifting mechanism of the robot enables the supporting device to descend, when a supporting plate of the supporting device falls to a position for grabbing the patient, namely the supporting plate is in contact with the bed surface of the patient, the patient with the side turning over is turned back to a lying state and lies on the supporting plate, and the action of grabbing the patient is completed. And thirdly, when the lifting mechanism enables the supporting device to ascend to one side above the chassis of the robot, the traveling device of the robot can drive the robot to run, and the patient is transported to a destination needing to be checked and the like, so that the transporting action is completed.
When the patient arrives at the destination, the robot is close to one side of the inspection equipment, the lifting mechanism enables the supporting device to descend, and when a supporting plate of the supporting device contacts the bed surface, the patient is turned over in the direction away from the robot; the robot support is raised and moved away and the patient can begin examination after turning back to the recumbent position.
And after the inspection is finished, repeating the process.
Compared with the current situation in the field, the bed-ridden patient carrying robot replaces manual work to carry the bed-ridden patient, greatly reduces the workload and the working difficulty of nursing personnel, and reduces the occupation amount of the nursing personnel to a certain extent; the invention can carry patients without causing any uncomfortable feeling of the patients, and is convenient and reliable.
Drawings
FIG. 1 is an isometric view of an embodiment of the invention with a patient being transported, i.e., a support tray, positioned on one side above a base pan;
FIG. 2 is an isometric view of the embodiment of the invention shown in FIG. 1 when the patient is transported, i.e., the support plate is positioned on one side above the chassis, and the hidden frame is close to the vertical plate on one side of the lifting frame and the vertical plate on the left side;
FIG. 3 is an isometric view of the embodiment of the invention shown in FIG. 1 with the patient grasped, i.e., the support plate, positioned above the patient's bed;
FIG. 4 is an isometric view of the travel drive arrangement of the embodiment of FIG. 1 of the present invention;
FIG. 5 is an isometric view of the lift drive arrangement of the embodiment of FIG. 1 of the present invention;
FIG. 6 is an isometric view of y-arm I of the embodiment of FIG. 1;
FIG. 7 is an isometric view of the y-arm II of the embodiment of FIG. 1 of the present invention.
Detailed Description
1. The device comprises a frame 2, an elongated slot 3, a guide rail I4, a guide rail II 5, a cross beam 6, a driving shaft 7, a driving wheel 8, a universal wheel 9, a chain transmission 10, a traveling driving device 11, a controller 12, a control panel 13, a gear 14, a lifting driving device 15, a lifting frame I16, a lifting frame II 17, a connecting plate I18, a connecting rod 19, a pin shaft 20, a roller 21, a rack 22, a bearing plate 23, an adjusting rod 24, an adjusting driving device 25, a y-shaped arm I26, a y-shaped arm II 27 and a connecting plate II.
In the embodiment shown in fig. 1-7: the frame 1 is a rectangular front 6-surface box-shaped frame structure, and the shortest 4 ridge lines and the longest 4 ridge lines of the rectangular box are parallel to the ground; the long limit of cuboid case is the longest ridge, and is 1 riser of plumb state and is equipped with 3 elongated slots 2 perpendicular with the longest ridge, and middle elongated slot 2 is located cuboid case, with the symmetry plane perpendicular with the longest ridge, 2 elongated slots 2 are arranged for cuboid case's, with the symmetry plane symmetry of longest ridge vertical in addition. 3 guide rails parallel to the long grooves 2 are arranged on the inner surface of the vertical plate, the sections of the 2 guide rails I3 positioned on the two sides are in an L shape, the guide rails I3 are symmetrically arranged relative to a symmetrical plane of the rectangular box perpendicular to the longest edge line, the section of the guide rail II 4 positioned in the middle is in a rectangular shape, and the distance from the guide rail II 4 to the symmetrical plane of the rectangular box perpendicular to the longest edge line is a; the guide rail planes of the guide rail I3 and the guide rail II 4 are both parallel to the surface of the vertical plate where the guide rail I3 is located, and the distance between the guide rail plane of the vertical plate surface where the guide rail II 4 is not in contact with the guide rail I3 and the inner surface of the vertical plate is equal to the distance between the guide rail plane of the vertical plate surface where the guide rail I3 is not in contact with the guide rail I3 and the inner surface of the vertical plate; the 2 guide rails I3 on the two sides are located between the 2 long grooves 2 on the two sides, the difference between the distance between the 2 long grooves 2 on the two sides and the distance between the 2 guide rails I3 on the two sides is equal to 2a, and a cross beam 5 parallel to the ground is arranged in the cuboid box. The middle part of a driving shaft 6 of the advancing device penetrates through an inner hole of a driven part of a chain transmission 9, two ends of the driving shaft 6 are supported on the lower surface of a bottom plate below a cuboid box of the rack 1, the lower surface of the bottom plate is parallel to the ground, the position is close to a vertical plate which is at one end of the cuboid box and is in a vertical state, and the short edge of the vertical plate is the shortest ridge line, and the axis of the driving shaft 6 is parallel to the; a rectangular opening is formed in the bottom plate of the rectangular box of the rack 1 corresponding to the chain transmission 9 on the driving shaft 6, the driving part of the chain transmission 9 extends into the rectangular box of the rack 1, and driving wheels 7 are arranged at two ends of the driving shaft 6; an output shaft of a travel driving device 10 which is arranged on the upper surface of a bottom plate parallel to the ground below a cuboid box of the frame 1 is connected with a driving part of a chain transmission 9, and the axis of the output shaft of the travel driving device 10 is parallel to the shortest ridge line of the cuboid box; the controller 11 is installed on the upper surface of a rectangular box bottom plate of the rack 1, the advancing driving device 10 is connected with the controller 11 through a lead, the control panel 12 is installed on the upper surface of a top plate above the rectangular box of the rack 1 and parallel to the ground, and is close to one side of a vertical plate of the rectangular box without the long groove 2, and the controller 11 is connected with the control panel 12 through a lead. The bottom plate of the cuboid box of frame 1 is kept away from the shortest crest line of drive shaft 6 department, is close to another 1 shortest crest lines department of cuboid box and is equipped with 2 mounting holes, and the mounting hole axis is perpendicular with the bottom plate of cuboid box, and the line of 2 mounting holes is parallel with the longest crest line of cuboid box, and 2 universal wheels 8's revolving axle is inserted in 2 mounting holes of bottom plate by the cuboid box below of frame 1 and the parallel bottom plate lower surface in ground respectively. The lifting frame I15 and the lifting frame II 16 of the lifting mechanism are both of rectangular plane 4-edge frame structures, the distance between 2 short frames of the lifting frame I15 is equal to the distance between 2 long grooves 2 on two sides of a rectangular box of the rack 1, 2 long frames of the lifting frame I15 and the lifting frame I15 are positioned on a symmetrical plane vertical to the long frames, 1 connecting plate I17 extends out towards the length direction of the short frames towards the direction far away from the other 1 long frame, 1 connecting rod 18 extends out towards the same direction vertical to the rectangular plane of the lifting frame I15, 2 connecting rods 18 extend out towards the same direction of the connecting rods 18 extending out towards the middle part of the 2 long frames at two ends of the 2 long frames of the lifting frame I15, and 2 pin shafts 19 extend out towards the length direction of the short frames towards the direction far away from the other 1 long frame; the distance between 2 pin shafts 19 at two ends of the same long frame of the lifting frame I15 is equal to the distance between 2 short frames of the lifting frame I15, the distance between 2 connecting rods 18 at two ends of the same long frame is also equal to the distance between 2 short frames of the lifting frame I15, the plate surface of the connecting plate I17 is parallel to the rectangular plane of the lifting frame I15, and the plate surfaces of the 2 connecting plates I17 are coplanar; 2 long frames of the lifting frame I15 are respectively provided with 3 idler wheels 20 towards the extending direction of the connecting rod 18, the axes of the idler wheels 20 are parallel to the rectangular plane of the lifting frame I15, the axes of the idler wheels 20 are positioned in the same plane, the 2 idler wheels 20 at two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the lifting frame I15, which is vertical to the long frame, the distance between the 2 idler wheels 20 at two ends is equal to the distance between the 2 guide rails I3 at two sides of the rectangular box of the rack 1, and the distance from the middle idler wheel 20 to the symmetrical plane of the lifting frame I15, which is vertical to the long frame, is a; the distance between 2 short frames of the second lifting frame 16 is equal to the distance between 2 short frames of the first lifting frame 15, 3 idler wheels 20 are respectively arranged on 2 long frames of the second lifting frame 16 in the same direction perpendicular to the rectangular plane of the second lifting frame 16, the axes of the idler wheels 20 are parallel to the rectangular plane of the second lifting frame 16, the axes of the idler wheels 20 are located in the same plane, the 2 idler wheels 20 at two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the second lifting frame 16 perpendicular to the long frame, the distance between the 2 idler wheels 20 at two ends of the same long frame of the second lifting frame 16 is equal to the distance between the 2 idler wheels 20 at two ends of the same long frame of the first lifting frame 15, and the distance from the middle idler wheel 20 to the symmetrical plane of the second lifting frame 16 perpendicular to the long frame is a; racks 21 are arranged among 2 long frames of the lifting frame II 16, in the middle of the long frames and on one side of the idler wheel 20 far away from the lifting frame II 16, the length direction of the racks 21 is parallel to the short frame of the lifting frame II 16, the tooth form of the racks 21 faces the direction far away from the idler wheel 20 on the lifting frame II 16, and the plate surface of the racks 21 is vertical to the rectangular plane of the lifting frame II 16; 6 connecting rods 18 extending out of the long frame of the crane I15 penetrate through 3 long grooves 2 on the long rectangular box from the outside of the rectangular box of the rack 1 and are inserted into the rectangular box, 2 connecting rods 18 in the middle of the 2 long frames of the crane I15 penetrate through the same 1 long groove 2 in the middle of the rectangular box, 2 connecting rods 18 at two ends of the 2 long frames of the crane I15 respectively penetrate through the same 1 long groove 2 on two sides of the rectangular box, and the direction of the deviation of the idler wheels 20 in the middle of the 2 long frames of the crane I15 relative to the symmetrical plane of the crane I15, which is vertical to the long frames, and the direction of the deviation of the guide rail II 4 relative to the symmetrical plane of the rectangular box, which is vertical to the longest line are the same; the tail ends of 6 connecting rods 18 inserted into the cuboid box are provided with 1 lifting frame II 16, the idler wheels 20 on the lifting frame II 16 face the direction of the lifting frame I15, and the rectangular plate surface of the lifting frame II 20 after installation is parallel to the rectangular plate surface of the lifting frame I15. The output shaft of a lifting driving device 14 arranged on the cuboid box inner cross beam 5 of the rack 1 is provided with a gear 13, the gear 13 is meshed with a rack 21 arranged on the lifting frame II 16, and the lifting driving device 14 is connected with a controller 10 arranged on the upper surface of the cuboid box bottom plate of the rack 1 through a lead. The y-shaped arm I25 and the y-shaped arm II 26 of the supporting device are both composed of a straight arm and an inclined arm, and one end of the inclined arm is fixedly connected to the middle part of the straight arm; a round hole is formed in the end part, far away from the straight arm, of the inclined arm of the y-shaped arm I25, a round hole is also formed in the end part, close to the round hole in the end part of the inclined arm, of the straight arm of the y-shaped arm I25, the axes of the 2 round holes are located in the plane where the straight arm and the inclined arm are located, the axis of the round hole is perpendicular to the straight arm, and the axes of the 2 round holes are coaxial; a connecting plate II 27 is arranged at the end part of the inclined arm far away from the straight arm of the y-shaped arm II 26, a connecting plate II 27 is also arranged at the end part of the straight arm of the y-shaped arm II 26 close to the connecting plate II 27 at the end part of the inclined arm, the plate surfaces of the 2 connecting plates II 27 are vertical to the straight arm, and the plate surfaces of the 2 connecting plates II 27 are coplanar; the plate surface of a rectangular flat plate-shaped bearing plate 22 is fixed at one end, far away from the round hole, of the straight arm of the y-shaped arm I25, the plate surface of the bearing plate 22 is perpendicular to the plane where the straight arm and the inclined arm of the y-shaped arm I25 are located, the center of the plate surface of the other 1 bearing plate 22 is fixed at one end, far away from the round hole, of the straight arm of the y-shaped arm II 26, and the plate surface of the bearing plate 22 is perpendicular to the plane where the straight arm and the inclined arm of the y-shaped arm II 26 are located; the Y-shaped arm II 26 fixed with the bearing plate 22 is installed on the lifting frame I15, the surfaces of 2 connecting plates II 27 of the Y-shaped arm II 26 are attached to the surfaces of 2 connecting plates I17, 2Y-shaped arms I25 fixed with the bearing plate 22 are respectively hinged to 2 pin shafts 19 which are located on the same 1 axis at the two ends of the lifting frame I15 through round holes formed in the end parts, far away from the straight arm, of the inclined arms and the end parts, close to the inclined arms, of the straight arms, and the straight arm parts of the Y-shaped arms I25 and the Y-shaped arms II 26 face upwards; 2 adjust drive arrangement 24 and articulate in the straight arm part middle part both sides of y shape arm II 26, 2 adjust the pole 23 one end and insert respectively and adjust in drive arrangement 24 power take off, 2 adjust the pole 23 the other end articulate respectively in 2 one side that straight arm part middle parts of y shape arm I25 are close to y shape arm II 26, 2 adjust drive arrangement 24 and be connected with the controller 10 of installing at the cuboid bottom plate upper surface of the case of frame 1 through the wire.

Claims (1)

1. The utility model provides a lift-type bed patient transfer robot, includes chassis, elevating system and supporting device, its characterized in that: the chassis comprises a rack (1) and a traveling device, wherein the rack (1) is of a rectangular right 6-face box-shaped frame structure, and the shortest 4 ridge lines and the longest 4 ridge lines of the rectangular box are parallel to the ground; the long edge of the rectangular box is the longest ridge line, and 1 vertical plate in a vertical state is provided with 3 long grooves (2) vertical to the longest ridge line, the middle long groove (2) is positioned on the symmetrical plane of the rectangular box vertical to the longest ridge line, and the other 2 long grooves (2) are symmetrically arranged relative to the symmetrical plane of the rectangular box vertical to the longest ridge line; 3 guide rails parallel to the long grooves (2) are arranged on the inner surface of the vertical plate, 2 guide rails I (3) with L-shaped sections on two sides are symmetrically arranged relative to a symmetrical plane of the rectangular box, which is perpendicular to the longest ridge line, the distance from a guide rail II (4) with a rectangular section in the middle to the symmetrical plane of the rectangular box, which is perpendicular to the longest ridge line, is a, the guide rail planes of the guide rails I (3) and the guide rail II (4) are both parallel to the vertical plate surface where the guide rail I (3) is located, the distance from the guide rail plane of the vertical plate surface where the guide rail II (4) is not in contact with the guide rail I (3) to the inner surface of the vertical plate is equal to the distance from the guide rail plane of the vertical plate surface where the guide rail I (3) is not in contact with the guide rail I (3) to the inner surface of the vertical plate, the 2 guide rails I (3) on two sides are located between the 2 long grooves (2), and the difference between the distances between the two guide rails I (3) on, a cross beam (5) parallel to the ground is arranged in the rectangular box; the travelling device comprises a driving shaft (6), a driving wheel (7), a universal wheel (8), a chain transmission (9), a travelling driving device (10) and a controller (11), wherein the two ends of the driving shaft (6) of which the middle part penetrates through the inner hole of the driven part of the chain transmission (9) are supported on the lower surface of a bottom plate below the cuboid box of the rack (1) and parallel to the ground, the driving shaft is close to one end of the cuboid box and is in a vertical state, the short edge of the driving shaft is a vertical plate with the shortest ridge line, and the axis of the driving shaft (6) is parallel to the shortest; a rectangular opening is formed in the bottom plate of the rectangular box of the rack (1) corresponding to the chain transmission (9) on the driving shaft (6), the driving part of the chain transmission (9) extends into the rectangular box of the rack (1), and driving wheels (7) are arranged at two ends of the driving shaft (6); an output shaft of a travel driving device (10) which is arranged on the upper surface of a bottom plate parallel to the ground below a cuboid box of the rack (1) is connected with a driving part of a chain transmission (9), and the axis of the output shaft of the travel driving device (10) is parallel to the shortest ridge line of the cuboid box; the travelling driving device (10) is connected with a controller (11) arranged on the upper surface of a bottom plate of a cuboid box of the rack (1) through a lead, a control panel (12) is arranged on the upper surface of a top plate above the cuboid box of the rack (1) and parallel to the ground and close to one side of a vertical plate of the cuboid box without an elongated slot (2), and the controller (11) is connected with the control panel (12) through a lead; the bottom plate of the rectangular box of the rack (1) is far away from the shortest ridge line of the driving shaft (6), and the other 1 shortest ridge line of the rectangular box is provided with 2 mounting holes, the axes of the mounting holes are vertical to the bottom plate of the rectangular box, the connecting lines of the 2 mounting holes are parallel to the longest ridge line of the rectangular box, and the rotating shafts of 2 universal wheels (8) are respectively inserted into the 2 mounting holes of the bottom plate from the lower surface of the bottom plate, parallel to the ground, below the rectangular box of the rack (1); the lifting mechanism comprises a lifting frame, a gear (13) and a lifting driving device (14), the lifting frame comprises a lifting frame I (15) and a lifting frame II (16), and the lifting frame I (15) and the lifting frame II (16) are both in rectangular plane 4-edge frame structures; the distance between 2 short frames of the lifting frame I (15) is equal to the distance between 2 long grooves (2) on two sides of a rectangular box of the rack (1), 2 long frames of the lifting frame I (15) are positioned on a symmetrical plane vertical to the long frames, 1 connecting plate I (17) extends towards the length direction of the short frames towards the direction far away from the other 1 long frames, 1 connecting rod (18) extends towards the same direction vertical to the rectangular plane of the lifting frame I (15), 2 connecting rods (18) extend towards the same direction of the connecting rods (18) extending towards the middle parts of the 2 long frames at two ends of the 2 long frames of the lifting frame I (15), and 2 pin shafts (19) extend towards the length direction of the short frames towards the direction far away from the other 1 long frames; the distance between 2 pin shafts (19) at two ends of the same long frame of the lifting frame I (15) and the distance between 2 connecting rods (18) are equal to the distance between 2 short frames of the lifting frame I (15), the plate surface of the connecting plate I (17) is parallel to the rectangular plane of the lifting frame I (15), and the plate surfaces of the 2 connecting plates I (17) are coplanar; 2 long frames of the crane I (15) are respectively provided with 3 idler wheels (20) towards the extending direction of the connecting rod (18), the axes of the idler wheels (20) are parallel to the rectangular plane of the crane I (15), and the axes of the idler wheels (20) are positioned in the same plane, 2 idler wheels (20) at two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the crane I (15) which is vertical to the long frames, the distance between the 2 idler wheels (20) at two ends is equal to the distance between 2 guide rails I (3) at two sides of the cuboid box of the rack (1), and the distance between the middle idler wheel (20) and the symmetrical plane of the crane I (15) which is vertical to the long frames is a; the distance between 2 short frames of the second lifting frame (16) is equal to the distance between 2 short frames of the first lifting frame (15), 3 rolling wheels (20) are respectively arranged on 2 long frames of the second lifting frame (16) towards the same direction vertical to the rectangular plane of the second lifting frame (16), the axes of the rolling wheels (20) are parallel to the rectangular plane of the second lifting frame (16), the axes of the rolling wheels (20) are positioned in the same plane, the 2 rolling wheels (20) at two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the second lifting frame (16) vertical to the long frames, the distance between 2 rollers (20) at two ends of the same long frame of the lifting frame II (16) is equal to the distance between 2 rollers (20) at two ends of the same long frame of the lifting frame I (15), and the distance from the middle roller (20) to a symmetrical plane of the lifting frame II (16) vertical to the long frame is a; racks (21) are arranged among 2 long frames of the second lifting frame (16), in the middle of the long frames and on one side of the idler wheel (20) far away from the second lifting frame (16), the length direction of the racks (21) is parallel to the short frames of the second lifting frame (16), the tooth form of the racks (21) faces the direction far away from the idler wheel (20) on the second lifting frame (16), and the plate surface of the racks (21) is vertical to the rectangular plane of the second lifting frame (16); 6 connecting rods (18) extending out of the long frame of the lifting frame I (15) penetrate through 3 long grooves (2) on the long square box from the outside of the rectangular box of the rack (1) and are inserted into the rectangular box, 2 connecting rods (18) at the middle part and two ends of the 2 long frames of the lifting frame I (15) respectively penetrate through the same 1 long groove (2) at the middle part and two sides of the rectangular box, and the direction of the roller (20) in the middle part of the 2 long frames of the lifting frame I (15), which is deviated relative to the symmetrical plane of the lifting frame I (15) and vertical to the long frames, is the same as the direction of the deviation of the guide rail II (4) relative to the symmetrical plane of the rectangular box and vertical to the longest ridge line; the tail ends of 6 connecting rods (18) inserted into the cuboid box are provided with 1 lifting frame II (16), the idler wheels (20) on the lifting frame II (16) face to the direction of the lifting frame I (15), and the rectangular plate surface of the lifting frame II (20) after installation is parallel to the rectangular plate surface of the lifting frame I (15); a gear (13) is arranged on an output shaft of a lifting driving device (14) arranged on a cuboid box inner cross beam (5) of the rack (1), the gear (13) is meshed with a rack (21) arranged on the lifting frame II (16), and the lifting driving device (14) is connected with a controller (10) arranged on the upper surface of a cuboid box bottom plate of the rack (1) through a lead; the bearing device comprises a y-shaped arm, a bearing plate (22), an adjusting rod (23) and an adjusting driving device (24), wherein the y-shaped arm comprises a y-shaped arm I (25) and a y-shaped arm II (26), the y-shaped arm I (25) and the y-shaped arm II (26) are both composed of a straight arm and an inclined arm, and one end of the inclined arm is fixedly connected to the middle part of the straight arm; a round hole is formed in the end part, far away from the straight arm, of the inclined arm of the y-shaped arm I (25), a round hole is also formed in the end part, close to the round hole in the end part of the inclined arm, of the straight arm of the y-shaped arm I (25), the axis of the round hole is located in the plane where the straight arm and the inclined arm are located, the axis of the round hole is perpendicular to the straight arm, and the axis of 2 round holes is coaxial; a connecting plate II (27) is arranged at the end part of one end, far away from the straight arm, of the inclined arm of the y-shaped arm II (26), a connecting plate II (27) is also arranged at the end part, close to the end part of the connecting plate II (27), of the straight arm of the y-shaped arm II (26), the plate surface of the connecting plate II (27) is vertical to the straight arm, and the plate surfaces of 2 connecting plates II (27) are coplanar; the plate surface of a rectangular flat plate-shaped bearing plate (22) is fixed at one end, far away from the round hole, of the straight arm of the y-shaped arm I (25), the plate surface of the bearing plate (22) is perpendicular to the plane where the straight arm and the inclined arm of the y-shaped arm I (25) are located, the center of the plate surface of the other 1 bearing plate (22) is fixed at one end, far away from the round hole, of the straight arm of the y-shaped arm II (26), and the plate surface of the bearing plate (22) is perpendicular to the plane where the straight arm and the inclined arm of the y-shaped arm II (26) are located; the Y-shaped arm II (26) fixed with the bearing plate (22) is installed on the lifting frame I (15), the surfaces of 2 connecting plates II (27) of the Y-shaped arm II (26) are attached to the surfaces of 2 connecting plates I (17), 2Y-shaped arms I (25) fixed with the bearing plate (22) are respectively hinged to 2 pin shafts (19) which are located on the same 1 axis at the two ends of the lifting frame I (15) through round holes formed in the inclined arms far away from the end part of the straight arm and the end part of the straight arm close to the inclined arm, and the straight arm parts of the Y-shaped arms I (25) and the Y-shaped arm II (26) are upward; 2 adjust drive arrangement (24) and articulate in the straight arm part middle part both sides of Y shape arm II (26), the one end of 2 regulation poles (23) is inserted respectively and is adjusted in the power take off of drive arrangement (24), the other end of 2 regulation poles (23) articulates respectively and is close to one side of Y shape arm II (26) in the straight arm part middle part of 2Y shape arms I (25), 2 adjust drive arrangement (24) and be connected with controller (10) of installing at the cuboid bottom plate upper surface of the case of frame (1) through the wire.
CN202010019682.6A 2020-01-08 Lifting type bedridden patient carrying robot Active CN110960372B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010019682.6A CN110960372B (en) 2020-01-08 Lifting type bedridden patient carrying robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010019682.6A CN110960372B (en) 2020-01-08 Lifting type bedridden patient carrying robot

Publications (2)

Publication Number Publication Date
CN110960372A true CN110960372A (en) 2020-04-07
CN110960372B CN110960372B (en) 2024-04-26

Family

ID=

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021253629A1 (en) * 2020-06-16 2021-12-23 大连理工大学 Multi-arm robot for realizing sitting and lying posture switching and carrying of user

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001061907A (en) * 1999-08-31 2001-03-13 Sadayoshi Kameyama Lift for nursing
DE202012101800U1 (en) * 2012-05-15 2012-06-14 BEKA Hospitec GmbH Lifting device for lifting and transporting patients
CN105147482A (en) * 2015-08-21 2015-12-16 常州工学院 Lifting and transferring apparatus for paralytic patients
CN107736975A (en) * 2017-10-17 2018-02-27 吉林宇恒慧创机电有限责任公司 A kind of intelligent nursing machine people
CN211560811U (en) * 2020-01-08 2020-09-25 淄博科创医疗仪器有限公司 Lifting type robot for transporting bedridden patients

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001061907A (en) * 1999-08-31 2001-03-13 Sadayoshi Kameyama Lift for nursing
DE202012101800U1 (en) * 2012-05-15 2012-06-14 BEKA Hospitec GmbH Lifting device for lifting and transporting patients
CN105147482A (en) * 2015-08-21 2015-12-16 常州工学院 Lifting and transferring apparatus for paralytic patients
CN107736975A (en) * 2017-10-17 2018-02-27 吉林宇恒慧创机电有限责任公司 A kind of intelligent nursing machine people
CN211560811U (en) * 2020-01-08 2020-09-25 淄博科创医疗仪器有限公司 Lifting type robot for transporting bedridden patients

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021253629A1 (en) * 2020-06-16 2021-12-23 大连理工大学 Multi-arm robot for realizing sitting and lying posture switching and carrying of user
US11701781B2 (en) 2020-06-16 2023-07-18 Dalian University Of Technology Multi-arm robot for realizing conversion between sitting and lying posture of patients and carrying patients to different positions

Similar Documents

Publication Publication Date Title
CN105147482A (en) Lifting and transferring apparatus for paralytic patients
CN211560811U (en) Lifting type robot for transporting bedridden patients
CN201603003U (en) Medical electric transfer bed
CN110960372A (en) Lifting type robot for transporting bedridden patients
CN110960372B (en) Lifting type bedridden patient carrying robot
CN211750671U (en) Folding type robot for transporting patients lying in bed
CN214105065U (en) Breathe severe patient first aid supporting equipment
CN111202643B (en) Medical patient fast carrying frame
CN213157148U (en) Auxiliary turning-over device
TWI254695B (en) Carrying apparatus
CN208980254U (en) A kind of three-D electric platform
CN111067739B (en) Folding bedridden patient transfer robot
CN201505252U (en) Rail type medical electric bed-moving device
CN206603899U (en) Gastrointestinal Endoscopes operation table
KR20050006445A (en) Cassette Transfer System in the Clean Room
CN110840689A (en) Medical automatic carrying stretcher vehicle and carrying method thereof
CN111419551A (en) Be applied to medical drive mechanism and medical bed of transporting
CN215840831U (en) Automatic lifting type gastric lavage nursing equipment for sickroom
CN215960813U (en) C-shaped patient transfer trolley free of holding
CN219295446U (en) Axle production transfer device
CN113230056B (en) Nursing bed convenient to stand up
CN212816803U (en) Be applied to medical drive mechanism and medical bed of transporting
CN220376248U (en) Movable lifting platform
CN114291761B (en) Installation tool for preassembled transformer substation
CN215101410U (en) Intelligent glass lifting device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant